scripting: fix .cmd() in while loops or state programs

A wrapper did forcefully not forward the reset(). It seems this is no longer
required, since removing that code makes .cmd() invocations work correctly
again.

Signed-off-by: Peter Soetens <[email protected]>

Author: psoetens

rtt/scripting/CmdFunction.hpp

@@ -65,8 +65,9 @@ namespace RTT
                     minit->readArguments();
                     maccept = minit->execute() && mrunner->runFunction( _foo.get() );
                     // we ignore the ret value of start(). It could have been auto-started during loading() of the function.
-                    if ( _foo->needsStart() ) // _foo might be auto-started in runFunction()
+                    if ( _foo->needsStart() ) { // _foo might be auto-started in runFunction()
                         _foo->start();
+		    }
                     if ( ! maccept ) {
                         return ss = SendFailure;
                     }
@@ -100,6 +101,7 @@ namespace RTT
             mrunner->removeFunction( _foo.get() );
             maccept = false;
             isqueued = false;
+	    ss = SendNotReady;
         }
 
         CmdFunction* clone() const

rtt/scripting/FunctionFactory.cpp

@@ -62,49 +62,6 @@
 namespace RTT {
     using namespace detail;
 
-        class CmdFunctionWrapper
-            : public DataSource<SendStatus>
-        {
-            DataSource<SendStatus>::shared_ptr alias;
-        public:
-            typedef boost::intrusive_ptr<CmdFunctionWrapper> shared_ptr;
-
-            CmdFunctionWrapper(DataSource<SendStatus>* ds)
-            : alias(ds)
-              {}
-
-            ~CmdFunctionWrapper() { }
-
-            bool evaluate() const {
-                return alias->evaluate();
-            }
-
-            DataSource<SendStatus>::result_t get() const
-            {
-                return alias->get();
-            }
-
-            DataSource<SendStatus>::result_t value() const
-            {
-                return alias->value();
-            }
-
-            DataSource<SendStatus>::const_reference_t rvalue() const
-            {
-                return alias->rvalue();
-            }
-
-            virtual void reset() { /* nop, don't reset ! */ }
-
-            virtual CmdFunctionWrapper* clone() const {
-                return new CmdFunctionWrapper(alias.get());
-            }
-            virtual CmdFunctionWrapper* copy( std::map<const base::DataSourceBase*, base::DataSourceBase*>& alreadyCloned ) const {
-                return new CmdFunctionWrapper(alias->copy(alreadyCloned) );
-            }
-        };
-
-
         FunctionFactory::FunctionFactory(ProgramInterfacePtr pi, ExecutionEngine* procs)
             : func(pi), proc(procs) {}
 
@@ -245,12 +202,7 @@ namespace RTT {
 
             if (args.size() >= 1) {
                 if ( dynamic_cast<CmdFunction* > (args[0].get()) != 0 ) {
-                    // The CmdFunction : wrap it and return it
-                    // wrapping is necessary because we don't want to propagate reset()
-                    return new CmdFunctionWrapper( dynamic_cast<CmdFunction*>(args[0].get()) );
-                } else if ( dynamic_cast<CmdFunctionWrapper* > (args[0].get()) != 0 ) {
-                    // Return argument.
-                    return args[0];
+                    return dynamic_cast<CmdFunction*>(args[0].get());
                 } else {
                     log(Error) <<"FunctionFactory: Please define your SendHandle with 'var SendHandle' for script functions." <<endlog();
                     return 0;

tests/program_test.cpp

@@ -527,16 +527,18 @@ BOOST_AUTO_TEST_CASE(testProgramCmdFoo)
         + "do test.assert( tvar_i == -1 ) \n"
         + "do test.assert( tvar_i == tconst_i ) \n"
         + "set tvar_i = +2\n" // 10
-        + "do test.assert( tvar_i == +2 )\n"
-        + "do foo.cmd(tvar_i)\n"
-        + "do test.assert( tvar_i == +4 )\n"
-        + "tss = foo.cmd(tvar_i)\n"
+        + "while (tvar_i != +6) {\n"
+        + "   tss = foo.cmd(tvar_i)\n"
+        + "   do test.assert( tss == SendSuccess )\n"
+        + "}\n"
         + "do test.assert( tvar_i == +6 )\n"
+        + "tss = foo.cmd(tvar_i)\n"
+        + "do test.assert( tvar_i == +8 )\n"
         + "do test.assert( tss == SendSuccess )\n"
         + "}";
     this->doProgram( prog, tc );
     Attribute<int> i = tc->provides()->getAttribute("tvar_i");
-    BOOST_REQUIRE_EQUAL( 6, i.get() );
+    BOOST_REQUIRE_EQUAL( 8, i.get() );
     this->finishProgram( tc, "x");
 }